DynaShellCmdWriteWord Class Reference

Write byte value to servo at address. More...

Inheritance diagram for DynaShellCmdWriteWord:

Protected Member Functions
virtual void	doExec (DynaShell &shell, uint_t uAddr, DynaSyncWriteTuple_T tup[], uint_t uCount)
	Write word. More...
Protected Member Functions inherited from DynaShellCmd
virtual void	PrintSynopses (int indent, int width)
	Print synsopses. More...
virtual void	PrintBlock (int col, int indent, int width, const char *sText)
	Print a block of indented text of width. More...
virtual void	PrintDelim (int width, const char cDelim)
char *	eow (const char *s)
	Find end of word. More...

Additional Inherited Members
Public Member Functions inherited from DynaShellCmdWriteByte
virtual void	Exec (DynaShell &shell, int argc, char *argv[])
	Execute write byte command on servos. More...
virtual char *	TabCompletion (DynaShell &shell, const char *sText, size_t uTextLen, int nState, const char *sContext)
	Command tab completion generator. More...
Public Member Functions inherited from DynaShellCmd
	DynaShellCmd (int nArgCntMin=0, int nArgCntMax=0)
	Default constructor.
virtual	~DynaShellCmd ()
	Default destructor.
const char *	GetCmdName ()
	Get dynamixel shell command name. More...
const char *	GetCmdHelpBrief ()
	Get shell command name brief description. More...
virtual void	PrintHelp (int indent=0, int width=80)
	Print command help with the description aligned at the given indentation. More...
int	GetPublishedLevel () const
const char *	GetPublishedName () const
int	SetPublishedInfo (int nLevel, const char *sParent=NULL)
virtual bool	ChkArgCnt (DynaShell &shell, int argc)
	Check that the argument count is within the class (min,max). More...
bool	ChkArgCnt0 (DynaShell &shell, int argc)
	Check that the argument count is zero. More...
bool	ChkArgCntEQ (DynaShell &shell, int argc, int eq)
	Check that the argument count is equal to the required. More...
bool	ChkArgCntGE (DynaShell &shell, int argc, int min)
	Check argument count against minimum required. More...
bool	ChkArgCntLE (DynaShell &shell, int argc, int max)
	Check argument count against maximum allowed. More...
bool	ChkComm (DynaShell &shell)
	Check that Dynamixel communication exists and is open. More...
bool	ChkChain (DynaShell &shell)
	Check that the servo chain exists. More...
bool	ChkChainNotEmpty (DynaShell &shell)
	Check that the servo chain exists and is not empty. More...
bool	ChkChainHasServo (DynaShell &shell, int nServoId)
	Check that the given servo is present in the chain. More...
bool	ChkChainIsMasterServo (DynaShell &shell, int nServoId)
	Check that the given servo is a master. More...
bool	ToInt (DynaShell &shell, const char *sArg, int *pVal)
	Convert command argument to integer. More...
bool	ToUInt (DynaShell &shell, const char *sArg, uint_t *pVal)
	Convert command argument to unsigned integer. More...
bool	ToDouble (DynaShell &shell, const char *sArg, double *pVal)
	Convert command argument to double. More...
bool	ToBool (DynaShell &shell, const char *sArg, bool *pVal)
	Convert command argument to boolean. More...
Protected Attributes inherited from DynaShellCmdWriteByte
int	m_nTabIter
	tab completion: servo id iterator
int	m_nTabServoId
	tab completion: current servo id
bool	m_bTabIncChain
	tab completion: [do not] include chain keyword
Protected Attributes inherited from DynaShellCmd
const char *	m_sCmdName
	command name
const char *	m_sCmdHelpBrief
	command help brief
const char *	m_sCmdHelpArgs
	command help arguments
const char *	m_sCmdHelpDesc
	command help description
const int	m_nArgCntMin
	minimum argument count
const int	m_nArgCntMax
	maximum argument count (0 if not max)
int	m_nPubLevel
	command's published level (depth)
char *	m_sPubName
	command's published name

Detailed Description

Write byte value to servo at address.

Definition at line 2703 of file dynashell_cmd_servo.cxx.

Member Function Documentation

virtual void DynaShellCmdWriteWord::doExec ( DynaShell &  shell, uint_t  uAddr, DynaSyncWriteTuple_T  tup[], uint_t  uCount  )

inlineprotectedvirtual

Write word.

Parameters

shell	Dynamixel shell.
uAddr	Write address.
tup	Array of (servo id, value) 2-tuples.
uCount	Number of tuples.

Reimplemented from DynaShellCmdWriteByte.

Definition at line 2745 of file dynashell_cmd_servo.cxx.

References DYNA_OK, DynaShell::Error(), DynaShell::m_pDynaComm, DynaShell::Ok(), DynaComm::SyncWrite(), and DynaComm::Write16().

  {
    int         rc;

    if( uCount == 1 )
    {
      rc = shell.m_pDynaComm->Write16(tup[0].m_nServoId, uAddr, tup[0].m_uVal);

      if( rc != DYNA_OK )
      {
        shell.Error(rc,
          "Servo %d: Failed to write word 0x%04x to 0x%02x.",
          tup[0].m_nServoId, tup[0].m_uVal, uAddr);
        return;
      }
    }
    else
    {
      rc = shell.m_pDynaComm->SyncWrite(uAddr, 2, tup, uCount);

      if( rc != DYNA_OK )
      {
        shell.Error(rc,
          "Failed to syncwrite to 0x%02x for %u servos.",
          uAddr, uCount);
        return;
      }
    }

    shell.Ok();
  }

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The documentation for this class was generated from the following file:

• dynashell/dynashell_cmd_servo.cxx